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Wherever the Queen went, people would flock to see her, and Elizabeth would often stop her horse or litter to talk with them. The Queen had a great way with people, always knowing the right thing to say and do, and enjoyed talking to her poor subjects as much as her rich. She had the common touch and this was something her Stuart successors lacked. Indeed, Sir Walter Raleigh once told King James I that one of the reasons Queen Elizabeth had been so popular was because she was "a queen of the poor as well as the rich". The Queen loved the pagents the poor people put on for her, even though they were not as sophisticated as the ones at court, and always appreciated their gifts, great and small. -- ElizabethI.org

-- The Life of Elizabeth I by Alison Weir

It can't be overstated how hugely important the common touch was for royals and their success as a monarch. That's why it's no small thing that in ASOIAF we see characters like Arya, Dany, Margaery, and Alysanne going among the common people, working to understand their plight, and gaining their love.